EP3697580A1 - Système de robot, dispositif et procédé destinés à l'application d'une force de traitement à un objet - Google Patents

Système de robot, dispositif et procédé destinés à l'application d'une force de traitement à un objet

Info

Publication number
EP3697580A1
EP3697580A1 EP18789767.3A EP18789767A EP3697580A1 EP 3697580 A1 EP3697580 A1 EP 3697580A1 EP 18789767 A EP18789767 A EP 18789767A EP 3697580 A1 EP3697580 A1 EP 3697580A1
Authority
EP
European Patent Office
Prior art keywords
manipulator
force
input
robot system
user
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18789767.3A
Other languages
German (de)
English (en)
Inventor
Niklas BÖHME
Sebastian Getz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Franka Emika GmbH
Original Assignee
Franka Emika GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=63921546&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP3697580(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Franka Emika GmbH filed Critical Franka Emika GmbH
Publication of EP3697580A1 publication Critical patent/EP3697580A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J3/00—Manipulators of leader-follower type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Program-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1602—Program controls characterised by the control system, structure, architecture
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39319—Force control, force as reference, active compliance

Definitions

  • the present invention relates to a robot system, an apparatus and a method for applying a process force to an object in the context of an activity to be performed by a robot with respect to the object.
  • the robot which as a rule moves relative to the object which the robot processes or manipulates with its multi-axis manipulator or end effector in the course of processing or handling, always brings up a process force or process force sequence whose values are according to the type of activity.
  • robots of the lightweight design are designed to carry only a limited load or to be able to apply only a limited process force. This limits the possible uses in relation to these parameters. Under certain circumstances, however, it may be necessary or desired to be able to apply higher process forces to an object when such robots are used.
  • activities such as in the field of medicine, physiotherapy, geriatrics or in general in connection with people who are due to their age or disability limited ability to lift loads or perform manual activities that can provide a certain Require effort.
  • the object of the present invention is to provide a robot system or a device and a method for the exercise or application of a process force with respect to an object, in which a robot is used, the activities for which the process force provided is supported, whereby these activities should always be controllable by a user.
  • This object is achieved with a robot system according to claim 1, with a device for applying a process force to an object according to claim 8 and with a corresponding method according to claim 21.
  • the invention relates to a robot system comprising a multi-axis manipulator for applying a process force to an object with respect to an activity by means of which the manipulator interacts with the object, wherein the manipulator is designed, in contact with the object
  • the robot system according to the invention amplifies the force input by the user in accordance with the predetermined conversion factors.
  • the input force is thus always set by the user while the manipulator performs the desired action on the object.
  • the manipulator may be further configured to change the gain conversion factor to the value of the process force during performance of the activity. In this way, while performing the action by the manipulator, a user can actively increase or decrease the resulting process force as needed, which is particularly beneficial in physiotherapeutic activities, or in manufacturing operations when unexpectedly resistive forces increase the drag or require a higher process force, such as when drilling holes or screwing screws.
  • the conversion factor with respect to the opposing force is to be the reciprocal of the conversion factor with respect to correspond to the process force, which provides the user with a subjectively more comprehensible feedback control.
  • the manipulator may comprise at least one means for detecting the input force by the user, for example in the form of well-known piezoelectric pressure measuring sensors or strain gauges embedded in a corresponding structure arranged on the manipulator at a suitable location.
  • the manipulator may have at least one means for passing on the counterforce to the user. Since the manipulator in contact with the object and according to the application of the process force as a function of the conversion factor inherently receives a counterforce in terms of the then prevailing balance of power, this drag must be passed through the predetermined conversion factor to the user.
  • the means is designed to communicate this to the user, preferably in a haptic manner via a corresponding, then reduced counterpressure.
  • the manipulator or articulated arm of the robot system is preferably designed to be compliance-controlled, in particular impedance-, admittance- and / or torque-controlled and has at its distal end an end effector on which the means for feedback control and, if necessary, also the means for inputting the input force can be arranged.
  • the invention relates to a device for applying a process force to an object, with
  • At least one input device configured to set an input force with respect to the object, wherein the input device has at least one means for detecting the input force
  • a robot system having a manipulator configured to apply thereto a process force upon contact with the object and to amplify the input force to the value of the process force upon application in response to a defined conversion factor;
  • the manipulator is further configured to detect an opposing force that occurs upon contact of the manipulator with the object, and wherein the input device is configured to image this counterforce.
  • the manipulator of the robot system is preferably a multi-axis arm of a lightweight robot, one or more axes of motion of which may be force-controlled or force-controlled, which is made possible by a corresponding sensor system.
  • This allows the manipulator to show a sensitive behavior.
  • a sensitive manipulator can feel a surface to be processed by recognizing the counterforce that acts on the manipulator when the surface is touched.
  • a sensitive manipulator can move force along an unknown surface, wherein the manipulator or its end effector remains in contact with the surface.
  • the contact force acting between the end effector of the manipulator and the object can be detected by the sensor system of the manipulator, and evaluated by the controller of the manipulator to guide the manipulator sensitively along the object.
  • the input device used regardless of its actual structural configuration, is configured to be able to detect forces, for example by means of appropriately designed force measuring sensors, on the one hand and via a On the other hand, for example, either via an active generation of these forces, if necessary with a corresponding reducing conversion factor, or via the execution of a countermovement, which can then be transmitted directly from the manipulator to the input device.
  • the device according to the invention allows a defined force increase to a required process force in order to carry out the desired activities.
  • the conversion factor provided for this purpose is determined based on the activity and can also be actively changed by the user during the activity.
  • the device or the robot system is equipped with a controller which on the one hand enables a corresponding force / compliance control of the manipulator and on the other hand takes into account the corresponding conversion factors.
  • the controller may also be in communication with other input devices, for example, for voice input, by means of which the user can actively and in real time change the force profile with respect to the applied process force by the input of appropriate commands during the execution of the activity.
  • the input device may be separately formed and configured by the manipulator to determine the input force only upon actual physical contact with the manipulator.
  • the input device is a rigid structure, such as an exoskeleton-type glove or thimble, which a user may wear.
  • this rigid structure there is at least one means for detecting the input force, for example piezoelectric force measuring sensors or strain gauges.
  • the user can then touch the manipulator, and if the manipulator is, for example, in a gravity-compensated mode, then the user is able to arbitrarily guide the manipulator in space over contact with the input device, i. the manipulator follows the user-specified motion.
  • the user guides the manipulator to the object to be manipulated or manipulated by the manipulator or an end effector disposed thereon.
  • the operator Upon contact with the object, the operator will cancel out by the user and the counterforce resulting from the object, so that the user will then define, via the input device, an input force that will be picked up by the sensors accordingly.
  • this input force is then amplified by the control taking into account the gain parameters to the desired value of the process force to be applied by the manipulator or end effector to the object.
  • a user wants to lift a heavy object, but would not be able to do so himself. He leads the manipulator to the object and then brings an input force in the sense of lifting, the manipulator then taking into account the weight of the Subject exerts an increased process force to lift this item, still under the guidance of the user by means of the input device, and bring to a desired position.
  • a user can therefore according to the invention via the input device, which is designed and configured to cooperate with an end effector of the manipulator and also to specify the movement of the manipulator in contact, use a robot system for any activities.
  • the object may be any object or component in a manufacturing or assembly or manufacturing process.
  • the device according to the invention in the field of medicine, for example when inserting prostheses, or in physiotherapy, in which the therapist applies slight manual forces via the input device, which are amplified accordingly by the manipulator, the therapist via the feedback Control of the sensitive manipulator is still able to feel, for example, muscular hardening and palpation.
  • the robot system according to the invention with the manipulator guided by a user thus recognizes whether a force detected by the latter is exerted by the user or results from an environmental contact.
  • the robot system recognizes which of the user predetermined movement of the manipulator should follow and on contact with an object under the input force which reinforced process force and also in which orientation this process force should be exercised.
  • Input device can attack at this anywhere.
  • an input device spatially separated from the manipulator of the robotic system as a rigid glove which nevertheless communicates with the manipulator's control via known signal transmission techniques, has the advantage that a single input device user can operate multiple robotic systems, some of which are configured differently could be.
  • a plurality of stationary robot-assisted assistance systems are provided, which can be operated via one and the same input means in the sense of the invention.
  • the input device it is also possible for the input device to be fixedly arranged directly on the manipulator, preferably in the area of the end effector, and also provided as a structure adapted anatomically to the user.
  • an input device with corresponding sensors is arranged directly on the fingers of a gripping mechanism, which are simply touched by the user, so that a user can easily pinch or pinch under increased process force with respect to the objects to be gripped can exercise.
  • the input device is designed to be actuated by a manipulator of another robot system, or this further manipulator has an input device which cooperates with the manipulator of the executing robot system.
  • this further manipulator has an input device which cooperates with the manipulator of the executing robot system.
  • Such robot systems have means for detecting forces acting on the manipulator.
  • moment sensors may be provided at the joints of the articulated arm robot.
  • Force-moment sensors can also be provided on the manipulator, which can detect the forces or torques acting on the manipulator by means of strain gauges.
  • motor currents can also be evaluated, which occur in the drives of the manipulator.
  • the present invention also relates to a method of applying a process force to an object by a manipulator of a robot as part of an operation to be performed by the manipulator with respect to the object, comprising the steps of:
  • the transmission of the counterforce accordingly takes place as a function of a predetermined conversion factor. This can eg. Reduced via the input device to the user, are almost in the sense of haptic feedback, share, if necessary. Supported by other audio ⁇ visual signals as a warning of what may be required in particular in interactions with people.
  • the input force can be determined either upon contact of the input device with the manipulator or upon contact of the input device directly with the object.
  • the amplification factor is variable, so that the process force is dynamically variable when applied to the object.
  • the dynamic change takes place via the control user-defined, for example via a voice input in real time, which i.a. is beneficial for physiotherapeutic applications.
  • At least one limit value may be directly associated with the gain or conversion factor or the process force in the controller. In physiotherapeutic or surgical applications, this prevents a user's inadvertently excessive input force from being over-amplified by the manipulator to prevent injury.
  • the consideration of limit values is also an advantage in the production and assembly of filigree, fragile components.
  • the invention is characterized in that, for the purpose of applying a process force or process force sequence, regardless of the intended use, a robot, Preferably, an articulated arm robot of lightweight construction, under specification of an activity-related movement and input force, which are predetermined by a user or even by another robot, implemented a force amplification and the user (or the other robot) continuously provides a direct feedback with respect to the counterforce resulting from the interaction with the objects is made available, which in principle allows the execution of sensitive activities.
  • a robot Preferably, an articulated arm robot of lightweight construction, under specification of an activity-related movement and input force, which are predetermined by a user or even by another robot, implemented a force amplification and the user (or the other robot) continuously provides a direct feedback with respect to the counterforce resulting from the interaction with the objects is made available, which in principle allows the execution of sensitive activities.
  • the present invention also differs substantially from known exoskeletal structures or general concepts for enhancing man-made movements and related forces, all of which are primarily position-controlled, in which the user moves the effectors to and from certain positions only can only apply certain forces without feedback control.
  • An advantageous use of the device according to the invention is also in the field of support of old and disabled people who are themselves unable to apply the necessary forces for certain activities.
  • a device with a manipulator on a wheelchair, wherein the user carries the rigid structure of the input device.
  • Such an arrangement proves to be much more practical than well-known, bulky exoskeletons, especially since the robot system can be activated without much effort and without much time delay.
  • the device according to the invention can also be used when teaching a robot system.
  • the later trajectories of the robot arm or of the effector are specified by a user simulating and storing the movements by guiding the manipulator, for example, in a gravitationally compensated mode. So far, however, during the teach-in, not the process forces to be applied in the course of the movements of the manipulator when in contact with an object have been taken into account. These are still entered separately via a controller of a mobile handset or via a programming interface of a computer.
  • the use of a device according to the invention with an input device interacting with the manipulator now allows the user to demonstrate, in addition to guiding the manipulator, the process forces to be provided for certain activities and store them together in relation to the trajectories.
  • FIG. 1 shows a first embodiment according to the invention; a second embodiment according to the invention; schematically different arrangement variants for an input device with respect to the second embodiment;
  • FIG. 1 shows a first exemplary embodiment according to the invention.
  • a multiaxial manipulator 1 of a lightweight construction robot system has an end effector 2 at its distal end, with which the manipulator 1 interacts with an object, not shown here, to push it down, for example.
  • the manipulator 1 can be guided arbitrarily in space by guiding contact by means of the hand 3 of a user according to its predetermined by the number of articulated arms degrees of freedom in the room, when the manipulator 1, for example. Is present in its gravitationally compensated mode.
  • the user applies an input force F IN via his hand 3, which is picked up by an input device 4 arranged at the proximal end of the end effector 2 becomes.
  • corresponding conversion factors are stored which determine with which gain the input force FE IN is to be converted by the manipulator 1 into an output force and then applied to the object as a process force F P.
  • a counter force F G R is generated, which is measured in this.
  • FIG. 2 shows a further embodiment according to the invention.
  • the input device 5 is in this case designed as a stiff glove, which is fixed, ie force-transmitting, with the distal end of the end effector 2.
  • FIGS. 3a to 3d show, however, any arrangements of the glove 5 on the end effector 2 are conceivable, depending on how a guide and force application is to be performed by the user.
  • At least one sensor for detecting the input force exerted by the user as soon as the glove 5 comes into contact with an object not shown here.
  • the user can guide the manipulator 1 with its end effector 2 in its gravitationally compensated state to the object via the glove 5, and then apply a reinforced process force on contact of the glove 5 with the object, the manipulator 1 on the rigid structure of the glove 5 the object is transmitted.
  • Such an arrangement is suitable, for example, for physiotherapeutic applications such as massages.
  • the feedback control for the representation of a reduced counterforce also takes place in the interior of the glove 5, for example via corresponding actuators.
  • a varying counterforce can result in muscle hardening in the example mentioned.
  • FIG. 4 shows a further embodiment according to the invention.
  • a thimble 6 is attached to the distal end of the end effector 2, which in itself serve as a force measuring sensor or can itself be designed as a rigid structure with an integrated force measuring sensor.
  • This arrangement is advantageous when the end effector 2, in addition to the sensor 6, a mechanism (eg, a screw head) carries, with which this cooperates with the object.
  • FIG. 5 A further application example is shown in FIG. 5.
  • a gripping mechanism 7, which can be attached to a distal end of a manipulator 1, has two gripper fingers 8, which are movable relative to one another.
  • sensors 9 are provided as input devices, so that a user in a simple manner by applying an easy pressure on the sensors 8 an input force applied by the gripping mechanism 7, taking into account a gain when gripping an object amplified.
  • FIG. 6 shows an exemplary embodiment according to the invention, in which the input device 6 of the force amplification-producing manipulator 10 of a robot system interacts with an end effector 7 of a manipulator 11 of another robot system.
  • the manipulator 11 is therefore intended to apply the corresponding process force with respect to an object, for example grasping, and is guided by the manipulator 10 and assisting in a force-enhancing manner, the counterforces resulting from the action of the manipulator 11 being transmitted to the manipulator 10 via the input device 6 and thus allow the feedback control of the manipulator 10, wherein preferably both manipulators 10 and 11 are compliance-controlled.
  • a particular application of a device according to the invention is in the field of care. That is why it is provided that a manipulator 1 is mounted according to the invention on a wheelchair 12, which can be activated by the user via a corresponding input device at the end of the manipulator 1, for example. For lifting or storing objects in the immediate vicinity of the wheelchair.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système de robot, un dispositif et un procédé destinés à l'application d'une force de traitement (FP) à un objet dans le cadre d'une opération destinée à être effectuée par rapport à l'objet au moyen d'un robot, le système de robot autorisant une augmentation de la force d'entrée (FEIN) entrée par un utilisateur lors d'un contrôle en retour simultané, afin de permettre de commander des opérations de manière sensible.
EP18789767.3A 2017-10-18 2018-10-18 Système de robot, dispositif et procédé destinés à l'application d'une force de traitement à un objet Withdrawn EP3697580A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017124356.9A DE102017124356B3 (de) 2017-10-18 2017-10-18 Robotersystem, Vorrichtung und Verfahren zur Applikation einer Prozesskraft auf ein Objekt
PCT/EP2018/078536 WO2019077035A1 (fr) 2017-10-18 2018-10-18 Système de robot, dispositif et procédé destinés à l'application d'une force de traitement à un objet

Publications (1)

Publication Number Publication Date
EP3697580A1 true EP3697580A1 (fr) 2020-08-26

Family

ID=63921546

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18789767.3A Withdrawn EP3697580A1 (fr) 2017-10-18 2018-10-18 Système de robot, dispositif et procédé destinés à l'application d'une force de traitement à un objet

Country Status (8)

Country Link
US (1) US20200290196A1 (fr)
EP (1) EP3697580A1 (fr)
JP (1) JP2021500240A (fr)
KR (1) KR20200070344A (fr)
CN (1) CN111448036A (fr)
DE (1) DE102017124356B3 (fr)
SG (1) SG11202003623UA (fr)
WO (1) WO2019077035A1 (fr)

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Publication number Priority date Publication date Assignee Title
DE102018127905A1 (de) 2018-11-08 2020-05-14 Franka Emika Gmbh Roboter und Verfahren zur Steuerung der Bewegung eines Roboters
US20200301510A1 (en) * 2019-03-19 2020-09-24 Nvidia Corporation Force estimation using deep learning
DE102019107975B3 (de) * 2019-03-28 2020-08-13 Franka Emika Gmbh Einlernen einer Haltekraft für einen Gegenstand in einem robotischen Greifer
CN113648215B (zh) * 2021-07-08 2024-06-04 康民智美(成都)健康科技有限公司 理疗仪
IT202100024899A1 (it) * 2021-09-29 2023-03-29 Gaiotto Automation S P A Metodo per il controllo in autoapprendimento di un sistema robotizzato chiuso e relativo impianto di lavorazione
CN114454158B (zh) * 2021-12-28 2024-03-15 江苏集萃微纳自动化系统与装备技术研究所有限公司 一种基于导纳控制的仿生机器人的控制方法和仿生机器人
CN115741732B (zh) * 2022-11-15 2024-06-25 福州大学 一种按摩机器人的交互式路径规划及运动控制方法

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Publication number Priority date Publication date Assignee Title
DE502005003478D1 (de) 2005-08-16 2008-05-08 Brainlab Ag Anthropomorpher medizintechnischer Roboterarm mit Bewegungseinschränkung
DE102007062108A1 (de) 2007-12-21 2009-07-02 Kuka Roboter Gmbh Industrieroboter und Verfahren zum Programmieren eines Industrieroboters
DE102009058607A1 (de) 2009-12-17 2011-06-22 KUKA Laboratories GmbH, 86165 Verfahren und Vorrichtung zum Steuern eines Manipulators
FR2962063B1 (fr) * 2010-07-02 2012-07-20 Commissariat Energie Atomique Dispositif robotise d'assistance a la manipulation a rapport d'augmentation d'effort variable
US9026250B2 (en) * 2011-08-17 2015-05-05 Harris Corporation Haptic manipulation system for wheelchairs
DE102013220798A1 (de) 2013-10-15 2015-04-16 Kuka Laboratories Gmbh Verfahren zum Handhaben von Objekten mittels wenigstens zweier Industrieroboter, und zugehöriger Industrieroboter
JP5893666B2 (ja) 2014-04-14 2016-03-23 ファナック株式会社 力に応じて動かすロボットのロボット制御装置およびロボットシステム
DE102015205176B3 (de) 2015-03-23 2016-05-12 Kuka Roboter Gmbh Robustes intuitives Bedienverfahren durch Berührung eines Manipulators

Also Published As

Publication number Publication date
WO2019077035A1 (fr) 2019-04-25
US20200290196A1 (en) 2020-09-17
JP2021500240A (ja) 2021-01-07
KR20200070344A (ko) 2020-06-17
DE102017124356B3 (de) 2018-12-27
SG11202003623UA (en) 2020-05-28
CN111448036A (zh) 2020-07-24

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